基于U模型的模糊免疫自抗扰控制方法研究

针对一类非线性系统在持续扰动下的控制问题，设计基于U模型的模糊免疫自抗扰控制方法。首先，引入U模型方法进行被控对象建模，提高处理非线性系统的能力，结合自抗扰控制方法，设计基于U模型的改进自抗扰控制器。在非线性反馈环节引入模糊免疫方法实现非线性智能反馈，设计基于U模型的模糊免疫自抗扰控制系统。最后仿真实验表明：基于U模型的模糊免疫自抗扰控制方法在保持了基于U模型的自抗扰控制的简洁性和良好抗扰性能的基础上，简化了控制器参数调节过程，在持续未知扰动下的跟踪速度、精度都更优。

The design on Fuzzy Immune active disturbance rejection control system based on U model

A class of nonlinear system with unknown continuous disturbances control problems are investigated, and design the control system based on the fuzzy immune active disturbance rejection control strategy. Firstly, the U model method is introduced to model the plant to improve the ability to deal with nonlinear systems. Combined with active disturbance rejection control method, an improved active disturbance rejection control based on U model is designed. Then fuzzy immune replace the nonlinear state error feedback to realize the nonlinear intelligent feedback, and fuzzy immune active disturbance rejection control strategy based on U model is designed. The final simulation experiment shows that: fuzzy immune active disturbance rejection control strategy based on U model simplifies the process of controller parameter adjustment on the basis of maintaining the simplicity and good anti-disturbance performance of active disturbance rejection control based on U model, and the tracking speed and accuracy under continuous unknown disturbance are better than active disturbance rejection control based on U model.